Robust cooperative control systems for multiple manipulators in the presence of external force

Edi Leksono, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper describes robust cooperative motion control systems based on workspace and joint space disturbance observers for multiple manipulators. In the modeling phase, the workspace disturbance observer based system uses a standard diagonal mass matrix while the joint space disturbance observer based system utilizes a diagonal nominal inertia matrix which results in the acceletation based motion control which means that both approaches provide a simple, flexible and robust cooperative motion control schemes. The effectiveness of the proposed systems is verified by several experimental results using two units SCARA manipulators grasping an object and moving the object according to the desired trajectory in free motion condition as well as in the existence of external interaction force.

Original languageEnglish
Pages (from-to)690-694
Number of pages5
JournalSeimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
Volume64
Issue number5
Publication statusPublished - 1998
Externally publishedYes

Fingerprint

Motion control
Manipulators
Control systems
Trajectories

Keywords

  • Cooperative multiple manipulators
  • Disturbance observer
  • External force
  • Joint space
  • Motion control
  • Workspace

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

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AB - This paper describes robust cooperative motion control systems based on workspace and joint space disturbance observers for multiple manipulators. In the modeling phase, the workspace disturbance observer based system uses a standard diagonal mass matrix while the joint space disturbance observer based system utilizes a diagonal nominal inertia matrix which results in the acceletation based motion control which means that both approaches provide a simple, flexible and robust cooperative motion control schemes. The effectiveness of the proposed systems is verified by several experimental results using two units SCARA manipulators grasping an object and moving the object according to the desired trajectory in free motion condition as well as in the existence of external interaction force.

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